Abstract – The modeling and control of 3 Degrees-of-Freedom (DOF) four-rotor rotorcraft is presented in this paper. Optimal control (LQR), LQR with gain scheduling, feedback linearization and sliding-mode control are simulated and tested on an experimental rig. The performance of the individual controllers are compared and discussed. Our simulation showed Sliding Mode Control (SMC) returned the...

The main objectives of vehicle motion control on an automated highway system are stable and safe automatic longitudinal and/or lateral path following in a platoon of vehicles. Various controllers can be used to satisfy the same objectives, but they may require different variables to be sensed or different conditions to be met. Supervision can select a controller and switch to a different contro...

In underwater remote vehicle-manipulator system (URVM) applications, it is beneficial to have the underwater remote vehicle (URV) hold station using its thrusters while a human pilot operates the serial manipulator. This provides a stable platform for the manipulator and eases the pilot’s job drastically when current and/or tether disturbances are present. The contribution of this work is twofo...

In this paper, the tracking control problem is considered for the payload transportation with an underactuated twodimensional overhead crane. Two sliding mode controllers are designed to perform the trajectory tracking. One is proposed to control hoisting and lowering the suspended payload, and the other one is proposed to control both trolley positioning and payload swaying. Considering the se...

Absrrucr In this paper, a new fuzzy sliding mode control scheme is proposed for second-order linear timevarying systems in order to obtain faster error convergence and desired error dynamics. It is well known that a second-order linear time-varying system can be used to model higher order linear time invariant systems piece-wisely. Therefore, it is necessary to do deep investigation for the sta...

The problem of the realization of integral sliding mode controllers based only on output information is discussed. The implementation of an output integral sliding mode controller ensures insensitivity of the state trajectory with respect to the matched uncertainties from the initial time moment. In the case when the number of inputs is more than or equal to the number of outputs, the closed lo...

This paper presents the application of discrete-time variable structure control with sliding mode based on the ‘reaching law’ method for robust control of a ‘simple inverted pendulum on moving cart’ a standard nonlinear benchmark system. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. The controller design is car...

The paper proposes an approach to second order sliding mode control for multi-input multi-output (MIMO) nonlinear uncertain systems. With respect to standard sliding mode control, the second order sliding mode techniques for singleinput single-output (SISO) systems show the same properties of robustness and precision, feature a higher order accuracy and can be exploited to eliminate the chatter...

This paper describes a method for designing discrete time static output feedback sliding mode controllers. Previous work has shown that by identifying a minimal set of current and past outputs, an augmented system can be obtained which permits the design of a sliding surface based upon output information only, if the invariant zeros of this augmented system are stable. In this work, a procedure...

Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT) [36], has been applied to decompose the combined dynamics of Nonholonomic wheeled mobile robots (WMRs) into three subsystems: intra and inter group shape dynamics, a...